SimpleBGC32 Serial API Open Source C Library

Description

This library is a helping instrument for communication between the SimpleBGC32 devices and different data processing devices. For more comfortable interaction with the SBGC32 devices repository contents possible examples of implementations of the driver algorithms are presented. General source files are placed in the /sources folder. Also, you may include the pre-made driver files if you rather to create an application using the Arduino (AVR MCUs), STM32 or Linux OS systems.

Pay attention to the User Defined Parameter constants, contained in the core.h file. Uncomment the SYS_BIG_ENDIAN constant if your general processing system have a BIG ENDIAN memory type. Uncomment the SBGC_DEBUG_MODE constant if you need to display debug information. Reducing the MAX_BUFF_SIZE you also reduce the load on the stack (256 byte is a optimal value).

Header library files involve:

Macros and constants
Auxiliary flags and their functions
Structure types corresponding to their commands

Source library files involve:

Data blocks for BIG ENDIAN systems
Executable functions

The adjvar.c file contains a data block "AdjVarsDebugInfoArray" with auxiliary information about all adjustable variables at the time of the current version. The core.c and core.h files also contain a lot of general service code.

Requirements

To fully use the functions of this library, it is recommended to use a device with at least 2 KB RAM and at least 16 KB FLASH.

Files Description

Source files

Headers (.h):

adjvar/adjvar.h - Adjustable variables header file
calib/calib.h - Calibration commands header file
core/core.h - Header file of the core for the custom usage SBGC32 Library
eeprom/eeprom.h - EEPROM module header file
gimbalControl/gimbalControl.h - Gimbal realtime-control header file
imu/imu.h - IMU module header file
profiles/profiles.h - Profile commands header file
realtime/realtime.h - Realtime operations header file
service/service.h - Service functions header file

Sources (.c):

adjvar/adjvar.c - Adjustable variables source file
calib/calib.c - Calibration commands source file
core/core.c - SBGC32 core source file
eeprom/eeprom.c - EEPROM module source file
gimbalControl/gimbalControl.c - Gimbal realtime-control source file
imu/imu.c - IMU module source file
profiles/profiles.c - Profile commands source file
realtime/realtime.c - Realtime operations source file
service/service.c - Service functions source file

Driver files

Headers (.h):

ArduinoDriver/driver_Arduino.h - STM32 driver header file
LinuxDriver/driver_Linux.h - STM32 driver header file
STM32_Driver/driver_STM32.h - STM32 driver header file

Sources (.c):

ArduinoDriver/driver_Arduino.cpp - Arduino driver source file
LinuxDriver/driver_Linux.c - Linux driver source file
STM32_Driver/driver_STM32.c - STM32 driver source file

How to use this library

For more convenient work with the library, it is recommended to use the SimpleBGC32 Serial API protocol specification.

Initialization

Arduino:

#include "driver_Arduino.h"
#include "core.h"

GeneralSBGC_t SBGC_1;

void setup ()
{
	SBGC_SERIAL_PORT.begin(SBGC_SERIAL_SPEED);
	DEBUG_SERIAL_PORT.begin(DEBUG_SERIAL_SPEED);
	
	pinMode(SERIAL2_RX_PIN, INPUT_PULLUP);

	SBGC32_DefaultInit(&SBGC_1, UartTransmitData, UartReceiveByte, GetAvailableBytes,
			UartTransmitDebugData, GetTimeMs, SBGC_PROTOCOL_V2);			   	
}

Linux:

#include "driver_Linux.h"
#include "core.h"

int main (void)
{
	SBGC_1.Drv = malloc(sizeof(Driver_t));
	DriverInit(SBGC_1.Drv, SBGC_SERIAL_PORT);

	SBGC32_DefaultInit(&SBGC_1, PortTransmitData, PortReceiveByte, GetAvailableBytes,
			PrintDebugData, GetTimeMs, SBGC_PROTOCOL_V2);

	while (1);
}

STM32:

main.c :

#include "driver_STM32.h"
#include "core.h"

GeneralSBGC_t SBGC_1;

int main (void)
{
	USART1_Init();
	USART2_Init();

	SBGC_1.Drv = malloc(sizeof(Driver_t));
	DriverInit(SBGC_1.Drv, SBGC_SERIAL_PORT, INTERNAL_MAIN_TIMER);

	SBGC32_DefaultInit(&SBGC_1, UartTransmitData, UartReceiveByte, GetAvailableBytes,
			UartTransmitDebugData, GetTimeMs, SBGC_PROTOCOL_V2);

	while (1);
}

stm32f7xx_it.c :

#include "driver_STM32.h"
#include "core.h"

extern GeneralSBGC_t SBGC_1;

void TIM2_IRQHandler (void)
{
	if (GET_FLAG_TIM_SR_UIF(INTERNAL_MAIN_TIMER) &&
	    GET_FLAG_TIM_DIER_UIE(INTERNAL_MAIN_TIMER))
		TimerDRV_CallBack(SBGC_1.Drv);

	HAL_TIM_IRQHandler(INTERNAL_MAIN_TIMER);
}

void USART1_IRQHandler (void)
{
	if (GET_FLAG_UART_ISR_TC(SBGC_SERIAL_PORT) &&
		GET_FLAG_UART_CR1_TCIE(SBGC_SERIAL_PORT))
		UART_DRV_TxCallBack(SBGC_1.Drv);

	if (GET_FLAG_UART_ISR_RXNE(SBGC_SERIAL_PORT) &&
		GET_FLAG_UART_CR1_RXNEIE(SBGC_SERIAL_PORT))
		UART_DRV_RxCallBack(SBGC_1.Drv);

	if (GET_FLAG_UART_ISR_ORE(SBGC_SERIAL_PORT))
		CLEAR_UART_ORE(SBGC_SERIAL_PORT);

	HAL_UART_IRQHandler(SBGC_SERIAL_PORT);
}

Notes:

- The default speed of SimpleBGC32 devices is 115200 bits per second.

- Initialize the DebugData functions with NULL if you don't want to use debug mode;

- If you are connecting SBGC32 through UART, the RX pin must be pulled up;

- If you want to create your gimbal communication driver, create it based on the necessary functions defined in the GeneralSBGC_t structure;

- Starting to work with the gimbal using Arduino don't forget to check the SERIAL_TX_BUFFER_SIZE and SERIAL_RX_BUFFER_SIZE constants. Strongly recommend increasing this value to 256;

- When SBGC32 device connected with Linux device you need to set choose mode for this connection to read, write, and executable using the terminal (sudo chmod a+rwx /dev/ttyUSBx);

- The communication driver for STM32 devices supports HAL and LL libraries;

Data handling

Each function beginning with SBGC32_... communicates with the SBGC32 device in a different way.

Transmit functions required preparing data in the target writable structures or other arguments. Such structures are marked by the const keyword. Besides, for most -TX functions after sending data, the SBGC32 device sends a confirmation command processed automatically in the function's body.
Request functions require partial filling of the fields of the target structure or nothing at all. Received data is stored in this structure. Confirmation of correct data reception is a returned status value of this function.
For manual data management use the SBGC32_TX and SBGC32_RX functions.

The rest of the details are contained in the descriptions inside the library itself. Also, you can generate project documentation using doxyfile in the /doxygen folder.

slovak194/sbgc32-serial-api